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Code Issues Releases Activity

REVONANO - Various temp fixes debug code to get nano to read from the flash. Code has been added to make the execution of systemTask wait until initTask has completed.

Browse Source 
Conflicts:
	flight/pios/common/pios_flashfs_objlist.c
This commit is contained in:
Stefan Karlsson 2014-12-04 01:06:00 +01:00 committed by Alessio Morale
parent 2d3c8b835a
commit efb6855f6f
6 changed files with 26 additions and 15 deletions
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6
flight/modules/System/systemmod.c
View File

@ -171,12 +171,18 @@ int32_t SystemModInitialize(void)
return 0;
}
extern volatile int initTaskDone;
MODULE_INITCALL(SystemModInitialize, 0);
/**
* System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS
*/
static void systemTask(__attribute__((unused)) void *parameters)
{
while (!initTaskDone) {
vTaskDelay(10);
}
/* create all modules thread */
MODULE_TASKCREATE_ALL;

5
flight/pios/common/pios_flash_eeprom.c
View File

@ -236,7 +236,7 @@ int32_t PIOS_Flash_EEPROM_Read(struct flash_eeprom_dev *flash_dev, const uint32_
current_block_len = MIN(page_len - index_within_page, current_block_len);
status = PIOS_Flash_EEPROM_ReadSinglePage(flash_dev, address + bytes_read, &buffer[bytes_read], current_block_len);
bytes_read += current_block_len;
if (!status) {
if (status) {
// error occurred during the write operation
return status;
}
@ -282,7 +282,7 @@ int32_t PIOS_Flash_EEPROM_Write(struct flash_eeprom_dev *flash_dev, const uint32
current_block_len = MIN(page_len - index_within_page, current_block_len);
status = PIOS_Flash_EEPROM_WriteSinglePage(flash_dev, address + bytes_written, &buffer[bytes_written], current_block_len);
bytes_written += current_block_len;
if (!status) {
if (status) {
// error occurred during the write operation
return status;
}
@ -391,7 +391,6 @@ static int32_t PIOS_Flash_EEPROM_EraseSector(uintptr_t flash_id, uint32_t addr)
}
// Rewrite first block of bytes to invalidate the sector.
const uint8_t buf[16] = { 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff };
return PIOS_Flash_EEPROM_Write(flash_dev, addr, buf, sizeof(buf));
}

7
flight/pios/common/pios_flashfs_objlist.c
View File

@ -194,8 +194,10 @@ int32_t PIOS_FLASHFS_Format(uintptr_t fs_id)
*/
static int32_t PIOS_FLASHFS_ClearObjectTableHeader(struct flashfs_dev *dev)
{
if (dev->driver->erase_sector(dev->flash_id, 0) != 0) {
return -1;
for (int i = 0; i < 16; i++) {
if (dev->driver->erase_sector(dev->flash_id, 256 * i) != 0) {
return -1;
}
}
if (dev->driver->write_data(dev->flash_id, 0, (uint8_t *)&dev->cfg->table_magic, sizeof(dev->cfg->table_magic)) != 0) {
@ -453,7 +455,6 @@ int32_t PIOS_FLASHFS_ObjLoad(uintptr_t fs_id, uint32_t obj_id, uint16_t obj_inst
if (dev->driver->end_transaction(dev->flash_id) != 0) {
return -1;
}
return 0;
}

2
flight/targets/boards/revonano/board_hw_defs.c
View File

@ -1320,7 +1320,7 @@ struct flashfs_cfg flash_main_fs_cfg = {
.obj_magic = 0x19293949,
.obj_table_start = 0x00000010,
.obj_table_end = 0x1000,
.sector_size = 0xFF,
.sector_size = 0x100,
.chip_size = 0x10000
};
#endif /* PIOS_INCLUDE_FLASH_OBJLIST */

16
flight/targets/boards/revonano/firmware/pios_board.c
View File

@ -146,14 +146,14 @@ static const struct pios_mpu9250_cfg pios_mpu9250_cfg = {
.Smpl_rate_div_no_dlp = 0,
// with dlp on output rate is 1000Hz
.Smpl_rate_div_dlp = 0,
.interrupt_cfg = PIOS_MPU9250_INT_CLR_ANYRD,// | PIOS_MPU9250_INT_LATCH_EN,
.interrupt_en = PIOS_MPU9250_INTEN_DATA_RDY,
.User_ctl = PIOS_MPU9250_USERCTL_DIS_I2C | PIOS_MPU9250_USERCTL_I2C_MST_EN,
.Pwr_mgmt_clk = PIOS_MPU9250_PWRMGMT_PLL_X_CLK,
.accel_range = PIOS_MPU9250_ACCEL_8G,
.gyro_range = PIOS_MPU9250_SCALE_2000_DEG,
.filter = PIOS_MPU9250_LOWPASS_256_HZ,
.orientation = PIOS_MPU9250_TOP_180DEG,
.interrupt_cfg = PIOS_MPU9250_INT_CLR_ANYRD, // | PIOS_MPU9250_INT_LATCH_EN,
.interrupt_en = PIOS_MPU9250_INTEN_DATA_RDY,
.User_ctl = PIOS_MPU9250_USERCTL_DIS_I2C | PIOS_MPU9250_USERCTL_I2C_MST_EN,
.Pwr_mgmt_clk = PIOS_MPU9250_PWRMGMT_PLL_X_CLK,
.accel_range = PIOS_MPU9250_ACCEL_8G,
.gyro_range = PIOS_MPU9250_SCALE_2000_DEG,
.filter = PIOS_MPU9250_LOWPASS_256_HZ,
.orientation = PIOS_MPU9250_TOP_180DEG,
.fast_prescaler = PIOS_SPI_PRESCALER_4,
.std_prescaler = PIOS_SPI_PRESCALER_64,
.max_downsample = 16,

5
flight/targets/boards/revonano/firmware/revolution.c
View File

@ -114,6 +114,9 @@ int main()
return 0;
}
volatile int initTaskDone = 0;
/**
* Initialisation task.
*
@ -127,6 +130,8 @@ void initTask(__attribute__((unused)) void *parameters)
/* Initialize modules */
MODULE_INITIALISE_ALL;
initTaskDone = 1;
/* terminate this task */
vTaskDelete(NULL);
}